CN106564375A - Vehicle reversing control method and device and automobile - Google Patents
Vehicle reversing control method and device and automobile Download PDFInfo
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- CN106564375A CN106564375A CN201510661054.7A CN201510661054A CN106564375A CN 106564375 A CN106564375 A CN 106564375A CN 201510661054 A CN201510661054 A CN 201510661054A CN 106564375 A CN106564375 A CN 106564375A
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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Abstract
The invention discloses a vehicle reversing control method and a device and an automobile. The control method comprises detecting a change rate of a opening controlled by an accelerator pedal when the automobile is in a reverse gear, determining whether or not the change rate of the opening detected is greater than a reference value of a preset change rate, and controlling the automobile to stop performing a reversing acceleration when it is detected that the change rate of the opening controlled by the accelerator pedal is greater than the reference value of the preset change rate. The vehicle reversing control method and the device solve the problem in the related art that the accelerator pedal is operated in error as a brake pedal to instantaneously speed up the automobile while reversing, thereby avoiding the security problem caused by the situation.
Description
Technical field
The present invention relates to field of automobile control, in particular to a kind of reversing automobile control method and device and automobile.
Background technology
Under normal circumstances, the accelerator pedal of automobile and the distance of brake pedal are close, and the not good driver of technology is often
Maloperation, when needing to trample brake pedal brake, by mistake step on the accelerator, is prone to accidents.In reversing automobile
During, whether driver needs to check rearview mirror, focus on to collide with surrounding objects, causes
Do not notice that trample is accelerator pedal or accelerator pedal.Especially after reversing terminates, driver needs to trample
Brake pedal stops reversing, and at this moment driver often floors on the pin of brake pedal one, if now driver steps on
Wrong pedal, steps on accelerator pedal, and speed can be improved rapidly, causes automobile to accelerate rapidly in the space of very little, sends out
Raw security incident.
What automobile instantaneously raised speed during for by mistake accelerator pedal being made into reversing as brake pedal operation in correlation technique asks
Topic, not yet proposes at present effective solution.
The content of the invention
Present invention is primarily targeted at a kind of reversing automobile control method and device and automobile are provided, to solve related skill
The problem that automobile instantaneously raises speed when by mistake accelerator pedal being made into reversing as brake pedal operation in art.
To achieve these goals, according to an aspect of the invention, there is provided a kind of reversing automobile control method.Should
Method includes：When automobile is in reverse gear, the aperture rate of change of accelerator pedal is detected；The aperture that judgement is detected becomes
Whether rate is more than default rate of change reference value；And when the aperture rate of change for detecting accelerator pedal changes more than default
During rate reference value, control automobile does not continue to perform reversing acceleration.
Further, judge whether the aperture rate of change for detecting includes more than default rate of change reference value：Judge pre-
If whether the aperture rate of change detected in time interval is more than default rate of change reference value.
Further, after control automobile does not continue to execution reversing acceleration, the method also includes：Detection automobile
Current vehicle speed；Judge the current vehicle speed of automobile whether more than preset vehicle speed；When detect current vehicle speed be more than preset vehicle speed
When, the Motor torque for controlling automobile reduces；When detecting that current vehicle speed is less than preset vehicle speed, controlled motor moment of torsion increases
Greatly；And when detecting that current vehicle speed is equal to preset vehicle speed, controlled motor moment of torsion is constant.
Further, when detecting that current vehicle speed is less than preset vehicle speed, the method also includes：Residing for detection automobile
Car backing position；And the car backing position according to residing for automobile judges that whether automobile moves backward on slope, wherein, when judging
When pure electric automobile is moveed backward on slope, the speed of controlled motor moment of torsion increase is accelerated.
Further, the speed of controlled motor moment of torsion increase is accelerated to include：The domatic gradient residing for detection automobile；According to
The gradient determines the speed that controlled motor moment of torsion increases, wherein, the gradient is bigger, and the speed of Motor torque increase is faster；With
And accelerated according to the speed of the speed control Motor torque increase for determining.
To achieve these goals, according to a further aspect in the invention, there is provided a kind of reversing automobile control device.Should
Device includes：First detector unit, for when automobile is in reverse gear, detecting the aperture rate of change of accelerator pedal；
First judging unit, for judging the aperture rate of change for detecting whether more than default rate of change reference value；And first
Control unit, for when the aperture rate of change of accelerator pedal is detected more than default rate of change reference value, controlling automobile
Do not continue to perform reversing acceleration.
Further, the first judging unit includes：First judge module, for judging to detect within a preset time interval
Whether the aperture rate of change for arriving is more than default rate of change reference value.
Further, the device also includes：Second detector unit, adds for not continuing to perform move backward in control automobile
After speed, the current vehicle speed of automobile is detected；Second judging unit, for judging the current vehicle speed of automobile whether more than pre-
If speed；And second control unit, for when detecting that current vehicle speed is more than preset vehicle speed, controlling the electricity of automobile
Machine moment of torsion reduces, and when detecting that current vehicle speed is less than preset vehicle speed, the increase of controlled motor moment of torsion is current detecting
When speed is equal to preset vehicle speed, controlled motor moment of torsion is constant.
Further, the second control unit includes：Detection module, for detecting current vehicle speed less than preset vehicle speed
When, detect the car backing position residing for automobile；And second judge module, sentence for the car backing position according to residing for automobile
Whether car of cutting steam moves backward on slope, control module, for when judging that pure electric automobile is moveed backward on slope, control to be electric
The speed of machine moment of torsion increase is accelerated.
Further, control module includes：Detection sub-module, for detecting the gradient domatic residing for automobile；Calculate son
Module, for calculating the speed of controlled motor moment of torsion increase according to the gradient, wherein, the gradient is bigger, Motor torque increase
Speed it is faster；And control submodule, for being accelerated according to the speed of the speed control Motor torque increase for calculating.
To achieve these goals, according to a further aspect in the invention, there is provided a kind of automobile, including the present invention implement
The reversing automobile control device that example is provided.
Further, the automobile is electric automobile.
The present invention is by when automobile is in reverse gear, detecting the aperture rate of change of accelerator pedal；What judgement was detected opens
Whether degree rate of change is more than default rate of change reference value；And preset when the aperture rate of change for detecting accelerator pedal is more than
During rate of change reference value, control automobile does not continue to perform reversing acceleration, solves in correlation technique by mistake by accelerator pedal
The problem that automobile instantaneously raises speed when reversing is made as brake pedal operation, and then treat as accelerator pedal in reversing mistiming
During brake pedal operation, prevent automobile from instantaneously raising speed, it is to avoid the safety problem thus brought.
Description of the drawings
The accompanying drawing for constituting the part of the application is used for providing a further understanding of the present invention, the schematic reality of the present invention
Apply example and its illustrate, for explaining the present invention, not constituting inappropriate limitation of the present invention.In the accompanying drawings：
Fig. 1 is the flow chart of reversing automobile control method according to embodiments of the present invention；And
Fig. 2 is the schematic diagram of reversing automobile control device according to embodiments of the present invention.
Specific embodiment
It should be noted that in the case where not conflicting, the feature in embodiment and embodiment in the application can phase
Mutually combination.Below with reference to the accompanying drawings and in conjunction with the embodiments describing the present invention in detail.
In order that those skilled in the art more fully understand application scheme, below in conjunction with the embodiment of the present application
Accompanying drawing, is clearly and completely described to the technical scheme in the embodiment of the present application, it is clear that described embodiment
The only embodiment of the application part, rather than the embodiment of whole.Based on the embodiment in the application, ability
The every other embodiment that domain those of ordinary skill is obtained under the premise of creative work is not made, all should belong to
The scope of the application protection.
It should be noted that the description and claims of this application and the term " first " in above-mentioned accompanying drawing, "
Two " it is etc. the object for distinguishing similar, without for describing specific order or precedence.It should be appreciated that this
The data that sample is used can be exchanged in the appropriate case, so as to embodiments herein described herein.Additionally, term
" comprising " and " having " and their any deformation, it is intended that covering is non-exclusive to be included, for example, comprising
The process of series of steps or unit, method, system, product or equipment are not necessarily limited to those steps clearly listed
Rapid or unit, but may include clearly not listing or intrinsic for these processes, method, product or equipment
Other steps or unit.
The embodiment provides a kind of reversing automobile control method.
Fig. 1 is the flow chart of reversing automobile control method according to embodiments of the present invention.As shown in figure 1, the method bag
Include following steps：
Step S101, when automobile is in reverse gear, detects the aperture rate of change of accelerator pedal.
Driver's hand shift whether is needed during traveling of advancing according to automobile, automobile can be divided into automatic transmission vapour
Car and manual automobile.Automobile can be divided into multiple gears, including reverse gear, neutral gear, drive shift etc., for controlling
Automobile is in different travel conditions.Generally, automatic gearshift automobile is built-in with gear position sensor, can detect
Whether the gear that automobile is presently in, judge automobile in reverse gear.For the automatic transmission for not including gear position sensor
Automobile and manual automobile, can install a gear position sensor, and whether detection automobile is in reverse gear.The present invention is right
The specific embodiment of gear position sensor is not limited, and can install a trigger in reverse gear, when driver hangs
The trigger is triggered when entering reverse gear and sends built-in gear position sensor of signal, or automatic gearshift automobile etc..
When detecting that automobile is in reverse gear, the aperture rate of change of the accelerator pedal of automobile is detected.The acceleration of automobile is stepped on
Also known as gas pedal, Main Function is the aperture for controlling automotive engine throttle to plate, and engine air throttle is that control is empty
Gas enters one controllable valve of engine, and gas can be mixed into combustion mixture into after air inlet pipe with gasoline, so as to
Work by combustion, detects that the aperture of accelerator pedal can also be regarded as detecting the aperture of automotive engine throttle.Accelerator pedal
Aperture rate of change can be with the incremental representation of the aperture of accelerator pedal, it is also possible to the aperture increment of accelerator pedal with
The ratio of the aperture before step on the accelerator is represented, as long as aperture of the accelerator pedal after trampling can be characterized
The amount of change size, all within the protection domain of the aperture rate of change of accelerator pedal of the present invention.
The aperture of automotive engine throttle controls the power output of engine, therefore, the aperture of accelerator pedal is bigger,
Power is bigger, and automobile accelerates faster.Traditional accelerator pedal is by acceleration cable or accelerator rod and air throttle phase
Even.As the continuous development of automotive electronic technology, the application of E-Gas are more and more extensive, driver tramples electronics
During the accelerator pedal of throttle, the aperture sensing of one gas pedal of electronic control unit of engine is actually passed to
The signal of device.For the automobile of E-Gas, detect that the rate of change of the aperture of accelerator pedal can be by automobile
The jaw opening sensor detection put, and for traditional accelerator pedal, a jaw opening sensor detection can be installed and sent out
The aperture of motivation air throttle.The present invention is not limited to the specific embodiment of jaw opening sensor, can accelerate to step on
One displacement transducer is installed on plate, detect accelerator pedal trampled after aperture rate of change and the acceleration trampled,
Can be one displacement transducer of installation, direct detection engine throttle at the Valve controlling of automotive engine throttle
The aperture rate of change of door.
Whether step S102, judge the aperture rate of change for detecting more than default rate of change reference value.
After the aperture rate of change for detecting car ACCEL, the aperture rate of change of detection is joined with default rate of change
Examine value to make comparisons.The default rate of change reference value is a reference quantity.Due in reversing process, in order to prevent and week
Enclose object to collide, the acceleration operation of driver is typically slow, and often quickly steps on braking when stopping and step on
Plate brakes, if now driver's error stepping on accelerator pedal, accident will occur.It follows that in reversing process,
Driver brakes two kinds of mode of operation pedal forces of the but maloperation of error stepping on accelerator pedal to the normal operating and wanting for accelerating
Degree is different, and the aperture rate of change for causing accelerator pedal is had any different.Can calibrate a driver and step on by mistake by experiment and add
The critical value range of speed pedal, namely default rate of change reference value of the present invention, when the aperture rate of change for detecting
During more than default rate of change reference value, it is believed that the behavior of driver's stepping on accelerator pedal is maloperation.Judgment mode can
By be with comparison circuit realize, or automotive internal controller install software in the way of realize, the present invention not
Limit the specific embodiment of determination methods.
For example, when detect aperture rate of change be more than 30% when, or more than 30%～100% between any one number
During value, it is believed that driver belongs to maloperation, by mistake by accelerator pedal as brake pedal, exert a force excessive.Default rate of change
The determination of reference value can be by experimental calibration, or by automobile controller to driver's stepping on accelerator pedal at ordinary times
Operation carry out counting the mean values for drawing.Now, control automobile and do not perform acceleration further according to accelerator pedal,
Try to avert accidents.
Preferably, judge whether the aperture rate of change for detecting includes more than default rate of change reference value：Judge default
Whether the aperture rate of change detected in time interval is more than default rate of change reference value.
Aperture rate of change in prefixed time interval can be detected, it can be determined that go out driver and exist by controller timing
The speed of stepping on accelerator pedal during reversing.If driver is by mistake by accelerator pedal as brake pedal, error stepping on accelerator pedal
When speed may be faster than speed during normal operating, need acceleration operation when stopping reversing, this preferred embodiment
It is to determine by the way that whether the aperture rate of change for judging to detect within a preset time interval is more than default rate of change reference value
The no acceleration operation stopped when moveing backward.In general prefixed time interval, be able to can be arranged on by experimental calibration
Any value in the range of 50 milliseconds to 500 milliseconds.For example, in 200 milliseconds, the aperture change for detecting is judged
Whether rate is more than default rate of change reference value, specifically, after being linked into reverse gear, the accelerator pedal in 200 milliseconds
When rate of change is less than or equal to 55%, accelerator pedal can control back-up speed, if the accelerator pedal in 200 milliseconds
When rate of change is more than 55%, accelerator pedal fails immediately, namely back-up speed is not controlled by accelerator pedal.
Step S103, when the aperture rate of change of accelerator pedal is detected more than default rate of change reference value, controls automobile
Do not continue to perform reversing acceleration.
If automobile uses efp, can not continued to by way of control E-Gas shutoff signal
The aperture of control automotive engine throttle.If automobile is traditional accelerator pedal, can be by arranging a valve lock
Dead device, it is automotive engine throttle is locked so that accelerator pedal can not continue to control automotive engine throttle
Aperture.According to different situations, control automobile does not perform acceleration further according to accelerator pedal can numerous embodiments, this
Invention does not limit its specific embodiment.
Reversing automobile control method provided in an embodiment of the present invention, by the way that when automobile is in reverse gear, detection acceleration is stepped on
The aperture rate of change of plate；Whether the aperture rate of change that judgement is detected is more than default rate of change reference value；And when detection
When going out the aperture rate of change of accelerator pedal more than default rate of change reference value, control automobile is not continued to perform move backward and accelerated,
Automobile instantaneously raises speed when solving the problems, such as by mistake accelerator pedal to be made into reversing as brake pedal operation in correlation technique,
And then when accelerator pedal is treated as brake pedal operation by mistiming of moveing backward, prevent automobile from instantaneously raising speed.
Preferably, after control automobile does not continue to execution reversing acceleration, the method also includes：Detect working as automobile
Front speed；Judge the current vehicle speed of automobile whether more than preset vehicle speed；When detecting that current vehicle speed is more than preset vehicle speed,
The Motor torque of control automobile reduces；When detecting that current vehicle speed is less than preset vehicle speed, the increase of controlled motor moment of torsion；
And when detecting that current vehicle speed is equal to preset vehicle speed, controlled motor moment of torsion is constant.
Motor torque is the output torque of motor, is one of basic parameter of motor.Motor provides dynamic for automobile
Power, when Motor torque increases, automobile power increases, and when Motor torque reduces, automobile power reduces.Work as reversing
After speed is not controlled by accelerator pedal, speed when moveing backward can also be by the following method controlled.Automobile is detected first
Current vehicle speed, and compare with preset vehicle speed.If current vehicle speed is more than preset vehicle speed, the Motor torque of automobile is controlled
Reduce；If current vehicle speed is less than preset vehicle speed, the increase of controlled motor moment of torsion；If current vehicle speed is equal to default car
When fast, controlled motor moment of torsion is constant.In general, automobile has speedometer, for the current vehicle speed of display automobile,
Current travel acceleration can also be included.Current vehicle speed can pass through formulaCalculate, wherein, n
For motor speed, r is radius of wheel, and i is decelerator speed ratio.
Preset vehicle speed can be a suitable reversing speed, it is also possible to including a suitable reversing acceleration, add
When speed pedal does not play control automobile acceleration, by comparing the magnitude relationship between current vehicle speed and preset vehicle speed, directly
The power for connecing the Motor torque control automobile of control automobile is increasedd or decreased, to a certain extent the increase of regulation speed or
Reduce.The size of speed v can pass through experimental calibration, or an empirical value in preset vehicle speed, for example,
4km/h≤v≤40km/h, the size of acceleration a could be arranged to 0.5m/s in preset vehicle speed2～2m/s2。
Preferably, when detecting that current vehicle speed is less than preset vehicle speed, the method also includes：Falling residing for detection automobile
Truck position；And the car backing position according to residing for automobile judges whether automobile moves backward on slope, wherein, it is pure when judging
When electric automobile is moveed backward on slope, the speed of controlled motor moment of torsion increase is accelerated.
If in view of on Che Po, moveed backward on slope, if accelerator pedal is in failure state, control is not continued to
Automobile accelerates, and Motor torque increase can slowly cause vehicle car slipping on slope.This preferred embodiment by detect automobile be
It is no on slope, and when automobile is on the slope, and current vehicle speed, when being less than preset vehicle speed, controlled motor moment of torsion increases
Big speed is accelerated, and prevents from slipping by slope.Whether the method on slope can be the position for detecting that automobile is current to detection automobile,
Judge that automobile is current whether on slope, or by vapour in navigation map or networking obtain the information such as current location
Whether the Slope Transducer that in-car is put judges automobile on slope.
Preferably, the speed of controlled motor moment of torsion increase is accelerated to include：The domatic gradient residing for detection automobile；According to slope
Degree determines the speed of controlled motor moment of torsion increase, wherein, the gradient is bigger, and the speed of Motor torque increase is faster；And
Accelerated according to the speed of the speed control Motor torque increase for determining.
Automobile can detect automobile and be presently in the domatic gradient by a built-in Slope Transducer, according to default public affairs
Formula or preset relation determining the speed that Motor torque increases, wherein, the principle of preset formula or preset relation is to work as
The front gradient is bigger, and the speed of increase is faster.After determining the speed that Motor torque increases, controlled motor moment of torsion is determining
Speed increase.
It should be noted that can be in such as one group computer executable instructions the step of the flow process of accompanying drawing is illustrated
Perform in computer system, and, although show logical order in flow charts, but in some cases, can
With with different from the shown or described step of order execution herein.
Embodiments of the invention additionally provide a kind of reversing automobile control device.It should be noted that the embodiment of the present invention
Reversing automobile control device can be used for perform the present invention reversing automobile control method.
Fig. 2 is the schematic diagram of reversing automobile control device according to embodiments of the present invention.As shown in Fig. 2 the device bag
Include：First detector unit 10, the first judging unit 20 and the first control unit 30.
First detector unit 10 is used to, when automobile is in reverse gear, detect the aperture rate of change of accelerator pedal.
Whether the first judging unit 20 is used to judge the aperture rate of change for detecting more than default rate of change reference value.
First control unit 30 is used for when the aperture rate of change of accelerator pedal is detected more than default rate of change reference value,
Control automobile does not continue to perform reversing acceleration.
Reversing automobile control device provided in an embodiment of the present invention, by the detection of the first detector unit 10 when automobile is in
The aperture rate of change of accelerator pedal during car stop；First judging unit 20 judges whether the aperture rate of change for detecting is more than
Default rate of change reference value；And when the aperture rate of change of accelerator pedal is detected more than default rate of change reference value,
The control automobile of first control unit 30 does not continue to perform reversing acceleration, solves to be missed in correlation technique and works as accelerator pedal
The problem that automobile instantaneously raises speed when reversing is made into brake pedal operation, and then accelerator pedal is treated as into system in reversing mistiming
During dynamic pedal operation, prevent automobile from instantaneously raising speed.
Preferably, the first judging unit includes：First judge module, for judging to detect within a preset time interval
Aperture rate of change whether more than default rate of change reference value.
Preferably, the device also includes：Second detector unit, for not continuing to perform reversing acceleration in control automobile
Afterwards, the current vehicle speed of automobile is detected；Second judging unit, for judging the current vehicle speed of automobile whether more than default
Speed；And second control unit, for when detecting that current vehicle speed is more than preset vehicle speed, controlling the motor of automobile
Moment of torsion reduces, and when detecting that current vehicle speed is less than preset vehicle speed, the increase of controlled motor moment of torsion is detecting current vehicle
When speed is equal to preset vehicle speed, controlled motor moment of torsion is constant.
Preferably, the second control unit includes：Detection module, for detect current vehicle speed be less than preset vehicle speed when,
Car backing position residing for detection automobile；And second judge module, judge vapour for the car backing position according to residing for automobile
Whether car moves backward on slope, control module, for when judging that pure electric automobile is moveed backward on slope, controlled motor to be turned round
The speed of square increase is accelerated.
Preferably, control module includes：Detection sub-module, for detecting the gradient domatic residing for automobile；Calculate submodule
Block, for calculating the speed of controlled motor moment of torsion increase according to the gradient, wherein, the gradient is bigger, Motor torque increase
Speed is faster；And control submodule, for being accelerated according to the speed of the speed control Motor torque increase for calculating.
Embodiments of the invention additionally provide a kind of automobile, including reversing automobile control device provided in an embodiment of the present invention.
Embodiments of the invention additionally provide a kind of electric automobile, and the electric automobile includes vapour provided in an embodiment of the present invention
Car astern controls.
Obviously, those skilled in the art should be understood that above-mentioned each module of the invention or each step can be with general
Computing device realizing, they can be concentrated on single computing device, or are distributed in multiple computing device institutes
On the network of composition, alternatively, they can be realized with the executable program code of computing device, it is thus possible to
It is stored in storage device being performed by computing device, or they is fabricated to respectively each integrated circuit die
Block, or the multiple modules or step in them are fabricated to single integrated circuit module to realize.So, the present invention
It is not restricted to any specific hardware and software to combine.
The preferred embodiments of the present invention are the foregoing is only, the present invention is not limited to, for the skill of this area
For art personnel, the present invention can have various modifications and variations.It is all within the spirit and principles in the present invention, made
Any modification, equivalent substitution and improvements etc., should be included within the scope of the present invention.
Claims (12)
1. a kind of reversing automobile control method, it is characterised in that include：
When automobile is in reverse gear, the aperture rate of change of accelerator pedal is detected；
Whether the aperture rate of change that judgement is detected is more than default rate of change reference value；And
When the aperture rate of change for detecting the accelerator pedal is more than the default rate of change reference value, institute is controlled
State automobile not continuing to perform reversing acceleration.
2. method according to claim 1, it is characterised in that whether the aperture rate of change that judgement is detected is more than pre-
If rate of change reference value includes：
Whether the aperture rate of change that judgement is detected within a preset time interval is more than default rate of change reference value.
3. method according to claim 1, it is characterised in that control the automobile do not continue to perform reversing plus
After speed, methods described also includes：
Detect the current vehicle speed of the automobile；
Judge the current vehicle speed of the automobile whether more than preset vehicle speed；
When detecting that the current vehicle speed is more than the preset vehicle speed, the Motor torque for controlling the automobile reduces；
When detecting that the current vehicle speed is less than the preset vehicle speed, the Motor torque increase is controlled；And
When detecting that the current vehicle speed is equal to the preset vehicle speed, the Motor torque is controlled constant.
4. method according to claim 3, it is characterised in that when detecting that the current vehicle speed is default less than described
During speed, methods described also includes：
Detect the car backing position residing for the automobile；And
Car backing position according to residing for the automobile judges whether the automobile moves backward on slope,
Wherein, when judging that the pure electric automobile is moveed backward on slope, the speed of the Motor torque increase is controlled
Degree is accelerated.
5. method according to claim 4, it is characterised in that the speed of the control Motor torque increase accelerates bag
Include：
Detect the gradient domatic residing for the automobile；
The speed of the control Motor torque increase is determined according to the gradient, wherein, the gradient is bigger, institute
The speed for stating Motor torque increase is faster；And
The speed of Motor torque increase is accelerated according to the speed control for determining.
6. a kind of reversing automobile control device, it is characterised in that include：
First detector unit, for when automobile is in reverse gear, detecting the aperture rate of change of accelerator pedal；
First judging unit, for judging the aperture rate of change for detecting whether more than default rate of change reference value；
And
First control unit, for being more than the default change when the aperture rate of change for detecting the accelerator pedal
During rate reference value, control the automobile and do not continue to perform reversing acceleration.
7. device according to claim 6, it is characterised in that first judging unit includes：
First judge module, for judging the aperture rate of change for detecting within a preset time interval whether more than pre-
If rate of change reference value.
8. device according to claim 6, it is characterised in that described device also includes：
Second detector unit, for after controlling the automobile and not continuing to execution reversing acceleration, detection to be described
The current vehicle speed of automobile；
Second judging unit, for judging the current vehicle speed of the automobile whether more than preset vehicle speed；And
Second control unit, for when detecting that the current vehicle speed is more than the preset vehicle speed, control to be described
The Motor torque of automobile reduces, and when detecting that the current vehicle speed is less than the preset vehicle speed, controls the electricity
Machine moment of torsion increases, and when detecting that the current vehicle speed is equal to the preset vehicle speed, controls the Motor torque not
Become.
9. device according to claim 8, it is characterised in that second control unit includes：
Detection module, for when detecting that the current vehicle speed is less than the preset vehicle speed, detecting the automobile
Residing car backing position；And
Whether the second judge module, judge the automobile on slope for the car backing position according to residing for the automobile
Reversing,
Control module, for when judging that the pure electric automobile is moveed backward on slope, controlling the Motor torque
The speed of increase is accelerated.
10. device according to claim 9, it is characterised in that the control module includes：
Detection sub-module, for detecting the gradient domatic residing for the automobile；
Calculating sub module, for calculating the speed of the control Motor torque increase according to the gradient, wherein,
The gradient is bigger, and the speed of the Motor torque increase is faster；And
Control submodule, the speed for the Motor torque increase according to the speed control for calculating is accelerated.
11. a kind of automobiles, it is characterised in that including the reversing automobile control device any one of claim 6 to 10.
12. a kind of automobiles according to described in claim 11, it is characterised in that the automobile is electric automobile.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510661054.7A CN106564375B (en) | 2015-10-12 | 2015-10-12 | Automobile reversing control method and device and automobile |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510661054.7A CN106564375B (en) | 2015-10-12 | 2015-10-12 | Automobile reversing control method and device and automobile |
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| Publication Number | Publication Date |
|---|---|
| CN106564375A true CN106564375A (en) | 2017-04-19 |
| CN106564375B CN106564375B (en) | 2020-05-22 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510661054.7A Active CN106564375B (en) | 2015-10-12 | 2015-10-12 | Automobile reversing control method and device and automobile |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107696861A (en) * | 2017-09-25 | 2018-02-16 | 北京新能源汽车股份有限公司 | Control method, device, system and the reversing safety governor for speed of moving backward |
| CN111204228A (en) * | 2020-01-20 | 2020-05-29 | 恒大新能源汽车科技(广东)有限公司 | Electric vehicle torque control method and electronic equipment |
| CN114103635A (en) * | 2021-12-08 | 2022-03-01 | 安徽江淮汽车集团股份有限公司 | Method and system for preventing vehicle from stepping on accelerator mistakenly |
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| JPH06276603A (en) * | 1993-03-22 | 1994-09-30 | Toyota Motor Corp | Drive force controller for electric motor vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107696861A (en) * | 2017-09-25 | 2018-02-16 | 北京新能源汽车股份有限公司 | Control method, device, system and the reversing safety governor for speed of moving backward |
| CN111204228A (en) * | 2020-01-20 | 2020-05-29 | 恒大新能源汽车科技(广东)有限公司 | Electric vehicle torque control method and electronic equipment |
| CN111204228B (en) * | 2020-01-20 | 2022-01-18 | 恒大恒驰新能源汽车科技(广东)有限公司 | Electric vehicle torque control method and electronic equipment |
| CN114103635A (en) * | 2021-12-08 | 2022-03-01 | 安徽江淮汽车集团股份有限公司 | Method and system for preventing vehicle from stepping on accelerator mistakenly |
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